* Faculty of Manufacturing Engineering , Graduate School of Eng. ,; † Department of Computer Science , Kitami Institute of Tech- nology , 165 Koen-cho , Kitami , 090-8507 , Japan , {f -masui ,; ‡ Department of Information Engineering , Kushiro National Col- lege of Technology , 2-32-1 Otanoshike , Kushiro , 084-0916 , Japan,
1 paper in the IJCAI proceedings
